The invention provides an intersection control method and device for an automatic driving vehicle, electronic equipment and a storage medium, and relates to the technical field of artificial intelligence, in particular to the technical field of automatic driving and intelligent traffic. According to the specific implementation scheme, a first lane where a vehicle is located and a second lane where an obstacle is located are obtained, and the first lane and the second lane are communicated with the same target intersection; acquiring a first boundary lane line of the first lane and a second boundary lane line of the second lane; determining an intersection point of the first boundary lane line and the second boundary lane line as a target intersection point; acquiring a vertical projection point of the target intersection point on a reference line of the first lane; determining a to-be-passed target point in the target intersection according to the vertical projection point; and controlling the vehicle to move towards the target point. Therefore, the automatic driving vehicle in the scheme can continue to move towards the target point in the intersection, the waiting time of the automatic driving vehicle in the intersection is shortened, and the traffic capacity of the automatic driving vehicle in the intersection is improved.
本公开提供了一种自动驾驶车辆的路口控制方法、装置、电子设备和存储介质,涉及人工智能技术领域,尤其涉及自动驾驶、智能交通技术领域。具体实现方案为:获取车辆处于的第一车道和障碍物处于的第二车道,其中,第一车道和第二车道连通同一个目标路口;获取第一车道的第一边界车道线,以及第二车道的第二边界车道线;将第一边界车道线和第二边界车道线的交点确定为目标交点;获取目标交点在第一车道的参考线上的垂直投影点;根据垂直投影点,确定目标路口内待通过的目标点;控制车辆向目标点移动。由此,本方案中的自动驾驶车辆可继续向路口内的目标点移动,缩短了自动驾驶车辆在路口内的等待时长,提高了自动驾驶车辆在路口内的通行能力。
Intersection control method and device for autonomous vehicle, electronic equipment and medium
自动驾驶车辆的路口控制方法、装置、电子设备和介质
2022-12-30
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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